#ifndef RTW_HEADER_openManipulatorTrajectoryPlanning_h_
#define RTW_HEADER_openManipulatorTrajectoryPlanning_h_
#ifndef openManipulatorTrajectoryPlanning_COMMON_INCLUDES_
#define openManipulatorTrajectoryPlanning_COMMON_INCLUDES_
#include <stdlib.h>
#include <string.h>
#include "sl_AsyncioQueue/AsyncioQueueCAPI.h"
#include "rtwtypes.h"
#include "sigstream_rtw.h"
#include "simtarget/slSimTgtSigstreamRTW.h"
#include "simtarget/slSimTgtSlioCoreRTW.h"
#include "simtarget/slSimTgtSlioClientsRTW.h"
#include "simtarget/slSimTgtSlioSdiRTW.h"
#include "simstruc.h"
#include "fixedpoint.h"
#include "raccel.h"
#include "slsv_diagnostic_codegen_c_api.h"
#include "rt_logging_simtarget.h"
#include "dt_info.h"
#include "ext_work.h"
#include "collisioncodegen_api.hpp"
#include "coder_posix_time.h"
#include "nesl_rtw.h"
#include "openManipulatorTrajectoryPlanning_6a081443_1_gateway.h"
#include "openManipulatorTrajectoryPlanning_6a081443_2_gateway.h"
#include "openManipulatorTrajectoryPlanning_6a081443_3_gateway.h"
#endif
#include "openManipulatorTrajectoryPlanning_types.h"
#include "mwmathutil.h"
#include "rtGetNaN.h"
#include "rt_nonfinite.h"
#include <stddef.h>
#include "rtw_modelmap_simtarget.h"
#include "rtGetInf.h"
#include "rt_defines.h"
#define MODEL_NAME openManipulatorTrajectoryPlanning
#define NSAMPLE_TIMES (4) 
#define NINPUTS (0)       
#define NOUTPUTS (0)     
#define NBLOCKIO (37) 
#define NUM_ZC_EVENTS (0) 
#ifndef NCSTATES
#define NCSTATES (16)   
#elif NCSTATES != 16
#error Invalid specification of NCSTATES defined in compiler command
#endif
#ifndef rtmGetDataMapInfo
#define rtmGetDataMapInfo(rtm) (*rt_dataMapInfoPtr)
#endif
#ifndef rtmSetDataMapInfo
#define rtmSetDataMapInfo(rtm, val) (rt_dataMapInfoPtr = &val)
#endif
#ifndef IN_RACCEL_MAIN
#endif
typedef struct { real_T ojtckfkjyo [ 6 ] ; real_T f1tyt5vcvt [ 6 ] ; real_T
gyuiwjkgbx ; real_T iuhvwu1nwu [ 12 ] ; real_T ev24cemjyk [ 8 ] ; real_T
hhdb535tvz [ 6 ] ; real_T dmuwptdi5m ; real_T crue1g0m5e ; real_T oolxi5a4g3
; real_T kl0afniunm ; real_T kj5qpxedtg [ 5 ] ; real_T nqkvctls4x [ 6 ] ;
real_T gn1fk0rbkj [ 6 ] ; real_T h05kbfk1ll ; real_T aualjlkhue ; real_T
p4begt1sri [ 2 ] ; real_T psgggvhrky [ 4 ] ; real_T nd1rapbf2u [ 6 ] ; real_T
b5i1gadrfg [ 4 ] ; real_T o4mrrxpgqr [ 4 ] ; real_T bpxoa5jqph [ 4 ] ; real_T
gtqltersrn [ 4 ] ; real_T kfmkqerxag [ 4 ] ; real_T kqkimrfdm5 [ 4 ] ; real_T
grytuooxbk [ 4 ] ; real_T i2z2yf5oxo [ 2 ] ; real_T f2ca0jlz0q [ 2 ] ; real_T
ffuvz5uef3 [ 4 ] ; real_T j5luahqacu [ 4 ] ; real_T n4hlwmps2s [ 4 ] ; real_T
ohhfpdrcbe [ 2 ] ; real_T mh5qb3h0t1 [ 2 ] ; real_T ecaqpvxc3x [ 4 ] ; real_T
d5kmywozm5 [ 4 ] ; real_T k3szni1qeu [ 6 ] ; real_T lo0hqyptao [ 6 ] ; real_T
fs4h3j1l31 [ 3 ] ; } B ; typedef struct { ecbwrsiemx ggw1b1lkek ; jd4q4eqa1g
pqz301f1cc ; evzhsot2uw c2ho3h3oyv ; real_T jiqh55j12p [ 6 ] ; real_T
ahio0mgx5h [ 4 ] ; real_T jmlpsyjpqa ; real_T osgjdwjesl ; real_T fkcgzk5oma
; real_T c45aidngho ; real_T kaentdmtdn ; real_T d5wogx3kqa ; real_T
ggzlanf4wa [ 6 ] ; real_T p4ux5yfv5l [ 6 ] ; real_T jhwzr3b1pg [ 2 ] ; real_T
eukf1npmbe [ 2 ] ; real_T eutf4o2lqe [ 2 ] ; real_T dwwiwqgqz0 [ 2 ] ; real_T
pmpxho4tev [ 2 ] ; real_T eqedaoza0o [ 2 ] ; real_T bgoyflaz0e [ 2 ] ; real_T
liwevcrd2d [ 2 ] ; real_T a4s0ocg4tv [ 2 ] ; real_T kqczznesoc [ 2 ] ; real_T
ac1ikcnlza [ 2 ] ; real_T mtraeigdsz [ 2 ] ; real_T g4g3vrgle4 [ 6 ] ; real_T
ofd1yxgqn2 ; real_T imqlsd2301 ; real_T jqx3umoi0g [ 6 ] ; real_T bwwbiride4
[ 4 ] ; real_T axm3re1vxp [ 5 ] ; real_T ap5zbvosy0 [ 6 ] ; real_T awzqwdk31a
; real_T f0i5qqud1u ; real_T grpnqhsyz0 ; real_T h0rypimiph ; real_T
ccbb0ktavq ; struct { void * TimePtr ; void * DataPtr ; void * RSimInfoPtr ;
} om1scnv1yi ; struct { void * LoggedData ; } aowiexwq3i ; struct { void *
LoggedData ; } gculjhcjky ; void * etcerwyaoj ; void * a5qgeff343 ; void *
caiz5lqz5f ; void * oxhvnz1wvt ; void * jtlx11zqtf ; void * oibswdkijz ; void
* papxjgo3op ; void * auudttxoyr ; void * p4zzie4c5v ; void * g3kdzskuxi ;
struct { void * LoggedData ; } pv1400gq1e ; struct { void * AQHandles ; }
mdhjjuxljs ; struct { void * AQHandles ; } h42mla3rja ; struct { void *
AQHandles ; } knk4hpmg1v ; struct { void * AQHandles ; } hbahckh543 ; struct
{ void * AQHandles ; } oesft45bii ; struct { void * AQHandles ; } nzulbnsjry
; struct { void * AQHandles ; } ppxa1k2ehz ; struct { void * AQHandles ; }
axrm20twhx ; struct { void * AQHandles ; } dygnyfsjhq ; void * dc0bllwdyl ;
void * khhoybnt1p ; void * gzao4gihsp ; void * nr1cfu1hki ; void * decri0rapn
; void * ezin4amxyy ; void * m2vrnf5y3k ; void * mawdbjpiix ; void *
dxqiwopjp0 ; void * iwx4yvq3ch ; void * nqy5lwwfbt ; void * fg4qcqmocx ; void
* fzld5uaeew ; void * hyqgdygwp0 ; void * nslhhdq3ey ; void * fw4oj40z44 ;
void * m3o4jlnlit ; void * cdslitainn ; void * aigywpxr0w ; void * ckycyn1pk1
; void * ehrj2onol0 ; void * kdbxo51z4f ; void * mzbahelyzz ; uint32_T
iujlyug3z5 ; uint32_T bhbuxnbarg [ 2 ] ; uint32_T ehmyrdjr0v [ 625 ] ;
uint32_T m2usyxvuaa ; uint32_T hl2ip4fyfs ; uint32_T kad3ljw5be [ 2 ] ;
brksl32yqf f0qx01hjkp ; brksl32yqf jffwzd0nlb ; struct { int_T PrevIndex ; }
l1cob02vt3 ; int_T edj0t2oelw ; int_T arxdbmacvj ; int_T onnfopq04a ; int_T
mzl33nqclq ; int_T ho0ogmrm4n ; int_T k0v0fvu5ab ; int32_T nvlgkermyv ;
int32_T agkmgcfe2g ; boolean_T elw5mlszj3 ; boolean_T hgzbqwt1rw ; boolean_T
fjiyb4fazm ; boolean_T ammknauxgb ; boolean_T ju2keuyi2y ; boolean_T
ilkhrfgy3p ; boolean_T kta541utr1 ; boolean_T awistkf5gl ; boolean_T
ohnifdbmla ; boolean_T kgbrg3ivnd ; boolean_T ejmahq1kwn ; boolean_T
gcwd0zaucf ; boolean_T jvss2h1o3w ; boolean_T jmldnbipjd ; boolean_T
n0rsfsdi3c ; boolean_T pxayrmk0dv ; boolean_T l11orfjj1u ; boolean_T
nervxud5ud ; } DW ; typedef struct { real_T ge5rtzzo4y [ 12 ] ; real_T
lnruxliw5a [ 2 ] ; real_T ipa1byflst [ 2 ] ; } X ; typedef struct { real_T
ge5rtzzo4y [ 12 ] ; real_T lnruxliw5a [ 2 ] ; real_T ipa1byflst [ 2 ] ; }
XDot ; typedef struct { boolean_T ge5rtzzo4y [ 12 ] ; boolean_T lnruxliw5a [
2 ] ; boolean_T ipa1byflst [ 2 ] ; } XDis ; typedef struct { real_T
ge5rtzzo4y [ 12 ] ; real_T lnruxliw5a [ 2 ] ; real_T ipa1byflst [ 2 ] ; }
CStateAbsTol ; typedef struct { real_T ge5rtzzo4y [ 12 ] ; real_T lnruxliw5a
[ 2 ] ; real_T ipa1byflst [ 2 ] ; } CXPtMin ; typedef struct { real_T
ge5rtzzo4y [ 12 ] ; real_T lnruxliw5a [ 2 ] ; real_T ipa1byflst [ 2 ] ; }
CXPtMax ; typedef struct { int_T ir [ 14 ] ; int_T jc [ 17 ] ; real_T pr [ 14
] ; } MassMatrix ; typedef struct { rtwCAPI_ModelMappingInfo mmi ; }
DataMapInfo ; struct P_ { real_T Kd1 ; real_T Kd2 ; real_T Kd3 ; real_T Kd4 ;
real_T Kfilt1 ; real_T Kfilt2 ; real_T Kfilt3 ; real_T Kfilt4 ; real_T KiGrip
; real_T Kp1 ; real_T Kp2 ; real_T Kp3 ; real_T Kp4 ; real_T KpGrip ; real_T
ctrlLowerLimit ; real_T ctrlUpperLimit ; real_T gripLowerLimit ; real_T
gripUpperLimit ; real_T DiscreteDerivative_ICPrevScaledInput ; real_T
DiscreteDerivative1_ICPrevScaledInput ; real_T
DiscretePIDController_InitialConditionForFilter ; real_T
DiscretePIDController1_InitialConditionForFilter ; real_T
DiscretePIDController2_InitialConditionForFilter ; real_T
DiscretePIDController3_InitialConditionForFilter ; real_T
DiscretePIDController4_InitialConditionForIntegrator ; real_T
DiscretePIDController5_InitialConditionForIntegrator ; real_T Constant1_Value
; real_T Constant1_Value_assvjoqkhx ; real_T FromWs_Time0 [ 2 ] ; real_T
FromWs_Data0 [ 2 ] ; real_T RateTransition6_InitialCondition ; real_T
OutputFilter_NumCoef ; real_T OutputFilter_DenCoef [ 2 ] ; real_T
OutputFilter_InitialStates ; real_T InputFilter_NumCoef ; real_T
InputFilter_DenCoef [ 2 ] ; real_T InputFilter_InitialStates ; real_T
InputRateLimiter_RisingLim ; real_T InputRateLimiter_FallingLim ; real_T
InputRateLimiter_IC ; real_T Filter_gainval ; real_T
Filter_gainval_pywx3a4mfz ; real_T Filter_gainval_bis3jwhwo3 ; real_T
Filter_gainval_l4l4aecji2 ; real_T Switch1_Threshold ; real_T
Integrator_gainval ; real_T Integrator_gainval_oyckhxze31 ; real_T TSamp_WtEt
; real_T TSamp_WtEt_d4bsp0r1mg ; real_T RateTransition_InitialCondition ;
real_T Constant3_Value ; real_T IKWeights_Value [ 6 ] ; real_T
ClosedGripperPosition_Value [ 2 ] ; real_T ExternalForce_Value [ 54 ] ;
real_T OpenGripperPosition_Value [ 2 ] ; real_T Clamping_zero_Value ; real_T
Clamping_zero_Value_hoqagzqhh4 ; real_T linearline_Value ; int8_T
Constant_Value ; int8_T Constant2_Value ; int8_T Constant3_Value_cugk0roo4b ;
int8_T Constant4_Value ; int8_T Constant_Value_bpv2m0vvte ; int8_T
Constant2_Value_potg3ffb2h ; int8_T Constant3_Value_lqo22zxgur ; int8_T
Constant4_Value_m2oknxe15n ; } ; extern const char *
RT_MEMORY_ALLOCATION_ERROR ; extern B rtB ; extern X rtX ; extern DW rtDW ;
extern MassMatrix rtMassMatrix ; extern P rtP ; extern mxArray *
mr_openManipulatorTrajectoryPlanning_GetDWork ( ) ; extern void
mr_openManipulatorTrajectoryPlanning_SetDWork ( const mxArray * ssDW ) ;
extern mxArray *
mr_openManipulatorTrajectoryPlanning_GetSimStateDisallowedBlocks ( ) ; extern
const rtwCAPI_ModelMappingStaticInfo *
openManipulatorTrajectoryPlanning_GetCAPIStaticMap ( void ) ; extern
SimStruct * const rtS ; extern const int_T gblNumToFiles ; extern const int_T
gblNumFrFiles ; extern const int_T gblNumFrWksBlocks ; extern rtInportTUtable
* gblInportTUtables ; extern const char * gblInportFileName ; extern const
int_T gblNumRootInportBlks ; extern const int_T gblNumModelInputs ; extern
const int_T gblInportDataTypeIdx [ ] ; extern const int_T gblInportDims [ ] ;
extern const int_T gblInportComplex [ ] ; extern const int_T
gblInportInterpoFlag [ ] ; extern const int_T gblInportContinuous [ ] ;
extern const int_T gblParameterTuningTid ; extern DataMapInfo *
rt_dataMapInfoPtr ; extern rtwCAPI_ModelMappingInfo * rt_modelMapInfoPtr ;
void MdlOutputs ( int_T tid ) ; void MdlOutputsParameterSampleTime ( int_T
tid ) ; void MdlUpdate ( int_T tid ) ; void MdlTerminate ( void ) ; void
MdlInitializeSizes ( void ) ; void MdlInitializeSampleTimes ( void ) ;
SimStruct * raccel_register_model ( ssExecutionInfo * executionInfo ) ;
#endif
